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Trace dynamic tracking implementation method

A technology of dynamic tracking and implementation method, applied in the field of robotics, can solve problems such as low efficiency, increased trajectory curvature, and small PID tracking trajectory curvature

Active Publication Date: 2020-10-23
GUANGDONG TOPSTAR TECH +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Wang Zheng et al. proposed an interception-type grasping method for objects on the conveyor belt based on position prediction, and analyzed and compared that PID tracking and grasping is suitable for occasions where the conveyor belt speed is slow, and intercepting tracking and grasping is suitable for occasions where the conveyor belt speed is fast, PID The track curvature is small at slow speed and the efficiency is high, while the track curvature increases at fast speed and the efficiency is low

Method used

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with accompanying drawing:

[0047] This embodiment will discuss the method of the robot tracking different process points on the moving workpiece, analyze the robot tracking motion process in detail and explain the calculation method of the coordinates of the interpolation points, and finally optimize the tracking effect to a certain extent. According to the dynamic control strategy, when there is a locked workpiece, the robot starts to track. First, it keeps up with the speed of the conveyor belt and keeps the workpiece relatively still. Then, it performs processes such as grasping and gluing on the moving workpiece. After processing, the tracking ends and the workpiece object is moved from removed from the queue. Robot tracking action flow such as figure 1 shown.

[0048] For the tracking of different process points with real-time changes in pose and pose, calibration of the workpiece reference co...

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Abstract

The invention discloses a trace dynamic tracking implementation method. The method includes the step of work piece modeling and calibration and coordinate calculation of a robot tracking process, andthe work piece modeling and calibration includes work piece reference coordinate system establishment and calibration, and technology point teaching. The method studies the relevant technologies of different technology points on dynamic tracking work pieces, and the method of the work piece reference coordinate system establishment and calibration and the technology point teaching is designed. Themethod includes that start of tracking, keep of tracking, and end of tracking are carried out, and an interpolation point coordinate calculation method in all processes is achieved; robot tracking lagging quantity is analyzed and a lagging time compensation mode is proposed; and finally, a trace optimization method based on velocity compensation is proposed to ease mechanical shock when a robot starts to track and gives up tracking.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for realizing trajectory dynamic tracking. Background technique [0002] In the dynamic operation of the robot, the difficulty lies in the tracking of the moving target. Part of the tracking algorithm is based on the feature detection of the target and the establishment of a feature model. The calculation is complex and time-consuming, and it is not suitable for the real-time and fast grasping requirements of industrial robots. Part of it is a tracking algorithm based on filtering theory, such as the Kalman filtering algorithm, which uses the linear system state equation to optimally estimate the system state according to the system input, updates the system estimated state and iterates continuously, which can accurately predict the motion state of the target In order to achieve tracking; follow-up researchers proposed an extended Kalman filter algorithm for nonlinear sy...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06T7/70G06T7/80G06T7/246
CPCB25J9/1664G06T7/70G06T7/80G06T7/246G06T2207/30164G06T2207/30241
Inventor 宋宝周向东唐小琦徐迪炜余文涛李虎杨承博谢正莹
Owner GUANGDONG TOPSTAR TECH
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